Vehicular vision system having a plurality of cameras

ABSTRACT

A vehicular vision system includes a plurality of cameras including a rear camera disposed at a rear portion of a vehicle and having at least a rearward field of view and a front camera disposed at a front portion of the vehicle and having at least a forward field of view. Responsive to processing at an electronic control unit of provided vehicle data, the vehicular vision system determines a vehicle motion vector during maneuvering of the vehicle. Responsive to image processing at the electronic control unit of frames of captured image data, the vehicular vision system determines an object present in the field of view of a camera of the plurality of cameras and determines movement of the object relative to the vehicle. The vehicular vision system compares the determined relative movement of the object to the determined vehicle motion vector to determine misalignment of the camera.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/948,471, filed Sep. 21, 2020, now U.S. Pat. No. 11,447,070,which is a continuation of U.S. patent application Ser. No. 16/390,074,filed Apr. 22, 2019, now U.S. Pat. No. 10,780,826, which is acontinuation of U.S. patent application Ser. No. 15/644,987, filed Jul.10, 2017, now U.S. Pat. No. 10,266,115, which is a continuation of U.S.patent application Ser. No. 14/960,834, filed Dec. 7, 2015, now U.S.Pat. No. 9,701,246, which is a continuation of U.S. patent applicationSer. No. 14/282,029, filed May 20, 2014, now U.S. Pat. No. 9,205,776,which claims the filing benefits of U.S. provisional application Ser.No. 61/825,753, filed May 21, 2013, which is hereby incorporated hereinby reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras (such as one or more CMOScameras) to capture image data representative of images exterior of thevehicle, and determines a kinematic model of motion of the vehicle asthe vehicle is driven along any path or route. The system determines thekinematic model based on inputs indicative of the vehicle steering angleand/or vehicle speed and/or vehicle geometries.

The cameras (such as one or more CMOS cameras) capture image datarepresentative of images exterior of the vehicle, and provide thecommunication/data signals, including camera data or captured imagedata, that may be displayed at a display screen that is viewable by thedriver of the vehicle, such as when the driver is backing up thevehicle, and that may be processed and, responsive to such imageprocessing, the system may detect an object at or near the vehicle andin the path of travel of the vehicle, such as when the vehicle isbacking up. The vision system may be operable to display a surround viewor bird's eye view of the environment at or around or at least partiallysurrounding the subject or equipped vehicle, and the displayed image mayinclude a displayed image representation of the subject vehicle.

According to an aspect of the present invention, a vision system of avehicle includes at least one camera (such as a camera comprising a twodimensional array of photosensing pixels) disposed at the vehicle andhaving a field of view exterior of the vehicle (and may include aplurality of cameras, each having a respective field of view exterior ofthe vehicle, such as rearward, sideward and/or forward of the vehicle).The camera is operable to capture frames of image data. Responsive toimage processing by an image processor of captured image data, a controlis operable to determine objects present in the field of view of thecamera. Responsive to vehicle data (such as steering information of thevehicle, speed of the vehicle and/or distance traveled by the vehicle orthe like), the control determines a vehicle motion vector during drivingof the vehicle by a driver of the vehicle. The control determinesmovement of an object (present in the field of view of the at least onecamera) relative to the vehicle via image processing of at least twoframes of captured image data during driving of the vehicle by thedriver of the vehicle. The control compares the determined relativemovement of the object to the determined vehicle motion vector, andresponsive to the comparison, the control may determine a misalignmentof the camera.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a schematic showing the coordinate system and angles used torepresent the travel of the vehicle;

FIG. 3 is a schematic and block diagram of the system of the presentinvention; and

FIG. 4 is a model of the kinematic equations of the system of thepresent invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 d at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1 ). The vision system 12 includes a control or electroniccontrol unit (ECU) or processor 18 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). Thecameras operate to capture frames of image data at a desired or selectedframe rate, such as, for example, about 30 frames per second or more orless. The data transfer or signal communication from the camera to theECU may comprise any suitable data or communication link, such as avehicle network bus or the like of the equipped vehicle.

The kinematic model of the present invention generates a Motion VectorV_(1N)=(x_(1N), y_(1N), Ψ_(1N)) of a moving vehicle between frame 1 andframe N, where x_(1N) and y_(1N) (mm) are the translational componentsof V and (Ψ_(1N) (degrees) is the heading angle of the vehicle. Nospecific vehicle motion is required, whereby the Motion Vectorestimation is performed as the vehicle navigates along an arbitrarypath.

The Kinematic Model of the present invention uses a “Bicycle Model” torepresent the vehicle motion, and determines or computes elementaryvectors V_(ij)=(x_(ij), y_(ij)) for each pair of frames i and j. Theresulting motion vector is composed of elementary vectors.

The Kinematic Model of the present invention does not use any imageinformation, and the inputs of the Kinematic Model include vehicle CANbus data and vehicle geometry.

The kinematic model of the present invention develops numericalrelations between wheel steering angles, wheel pulses, heading angle(Ψ_(ij) and translational vehicle motion x_(ij), y_(ij) between frames iand j. The system is operable to approximate the vehicle Kinematic Modelby use of a bicycle kinematic model, where two front (and rear) wheelscoincide (see, for example, FIG. 2 ). Experiments show that vehiclemotion (such as four wheel vehicles, such as cars, vans, SUVs, trucksand/or the like) can be accurately described by such a bicycle kinematicmodel.

The Kinematic Model of the present invention provides a model of vehiclemotion between frames, based on one or more system inputs. The system isoperable to estimate a vector V_(ij)=(x_(ij), y_(ij), Ψ_(ij)) of vehiclemotion between image frames i and j. The inputs may provide input data,such as, for example, CAN bus vehicle motion data, such as, for example,the steering wheel angle and wheel pulse clicks and/or the like (seeFIG. 3 ).

The kinematic modeling system of the present invention uses lateralvehicle dynamics and wheel pulse counters, and develops numericalrelations between the wheel steering angles, the heading angle and thetranslational vehicle motion. The system uses the assumption that themotion of the vehicle can be accurately described by a Bicycle Model,where the two front and two rear wheels coincide (see FIG. 4 ).

The system of the present invention thus may determine a model of themotion or path of the vehicle responsive to vehicle system inputs, suchas inputs from or indicative of the vehicle steering wheel angle and/orvehicle speed and/or the like. The system may utilize the motion modelfor camera calibration systems and/or the like, such as for a cameracalibration system of the types described in U.S. patent applicationSer. No. 14/282,028, filed May 20, 2014 and published Nov. 27, 2014 asU.S. Publication No. US-2014-0347486, and U.S. provisional applications,Ser. No. 61/878,877, filed Sep. 17, 2013, and Ser. No. 61/825,752, filedMay 21, 2013, which are hereby incorporated herein by reference in theirentireties.

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011and published Jun. 28, 2012 as U.S. Publication No. US-2012-0162427,which are hereby incorporated herein by reference in their entireties.

In multi-camera surround view systems, maintaining calibration of thecameras is important. For example, a camera located at the outsidemirror should be calibrated along with a camera located at the front orrear of the vehicle, so that the overlapping portions of the capturedimages can be properly stitched together to provide a substantiallyseamless top view or surround view display. Prior calibration methodsare known, such as described in U.S. Pat. No. 7,720,580, which is herebyincorporated herein by reference in its entirety.

In accordance with the present invention, a vehicle data-based kinematicmodel of the equipped vehicle is determined as that vehicle travels aparticular road or route, using vehicle data, such as including vehiclesteering information, vehicle speed information, vehicle distanceinformation and/or the like. Such vehicle data is supplied to a control(typically vehicle a CAN or LIN bus of the vehicle), which determines orestablishes a vehicle-based motion vector for the vehicle at any giventime and location along the driven route. In parallel (such as at thesame time as the kinematic model is being determined), an image-basedmotion vector of that moving vehicle may be determined, based on changeor movement of an imaged object between a first frame and a following orsubsequent second frame.

In a properly calibrated system, movement of the equipped vehicle andobjects in the field of view of the camera as determined via imageprocessing of captured image data should coincide with and be the sameas movement of the vehicle determined and predicted via the vehicle databased kinematic model. In other words, the kinematic model can be usedto determine how an object present in the field of view of the cameramay move relative to the vehicle as the vehicle is driven, and when thecamera is properly calibrated, the location and movement of the objectas determined via image processing of subsequent frames of capturedimage data should coincide with the predicted location and movement ofthe object as determined via use of the kinematic model. However, if aparticular camera capturing image data processed in the first and secondframes of captured image data is no longer properly calibrated, themotion of the object predicted by use of the vehicle kinematic vectordetermined by the vehicle data based kinematic model will be differentthan the relative motion of the object in the field of view of themisaligned camera as captured over two or more frames of image data.Thus, the control can determine and utilize this determined differenceto establish or determine that an out of calibration condition of thesubject vehicle camera exists. Responsive to such a determination, thesystem may adjust the camera calibration accordingly to bring the camerainto calibration so as to have the location and relative movement ofdetected objects coincide with the predicted location and movement basedon the actual kinematic/orientation of the equipped vehicle.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO2013/123161; WO 2013/126715; WO 2013/043661 and/or WO 2013/158592, whichare all hereby incorporated herein by reference in their entireties. Thesystem may communicate with other communication systems via any suitablemeans, such as by utilizing aspects of the systems described inInternational Publication Nos. WO 2010/144900; WO 2013/043661 and/or WO2013/081985, and/or U.S. patent application Ser. No. 13/202,005, filedAug. 17, 2011 and published Mar. 15, 2012 as U.S. Publication No.US-2012-0062743, which are hereby incorporated herein by reference intheir entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A vehicular vision system, the vehicularvision system comprising: a plurality of cameras disposed at a vehicleequipped with the vehicular vision system; wherein the plurality ofcameras is disposed at the vehicle so that each camera of the pluralityof cameras has a respective field of view exterior of the vehicle;wherein the plurality of cameras comprises (i) a rear camera disposed ata rear portion of the vehicle and having at least a rearward field ofview and (ii) a front camera disposed at a front portion of the vehicleand having at least a forward field of view; wherein each camera of theplurality of cameras comprises a two dimensional array having at leastone million photosensing elements arranged in rows and columns; whereineach camera of the plurality of cameras is operable to capture frames ofimage data; an electronic control unit, the electronic control unitcomprising an image processor operable to process frames of image datacaptured by the plurality of cameras and provided to the electroniccontrol unit; wherein vehicle data is provided to the electronic controlunit via a communication bus of the vehicle; wherein, responsive toprocessing at the electronic control unit of provided vehicle data, thevehicular vision system determines a vehicle motion vector duringmaneuvering of the vehicle; wherein the vehicle data at least comprises(i) speed data indicative of speed of the vehicle and (ii) steering dataindicative of steering of the vehicle; wherein, responsive to imageprocessing at the electronic control unit of frames of captured imagedata, the vehicular vision system determines an object present in thefield of view of a camera of the plurality of cameras; wherein thevehicular vision system determines movement of the object relative tothe vehicle via image processing at the electronic control unit of atleast two frames of captured image data during maneuvering of thevehicle; wherein the vehicular vision system compares the determinedrelative movement of the object to the determined vehicle motion vector;and wherein, responsive to a difference between the determined relativemovement of the object and the determined vehicle motion vector, thevehicular vision system determines misalignment of the camera.
 2. Thevehicular vision system of claim 1, wherein the vehicle data is providedto the electronic control unit via a CAN communication bus of thevehicle.
 3. The vehicular vision system of claim 1, wherein a kinematicmodel comprising a bicycle model is used to represent vehicle motion,and wherein the kinematic model utilizes translational vehicle motion.4. The vehicular vision system of claim 3, wherein the kinematic modelutilizes wheel steering angle.
 5. The vehicular vision system of claim3, wherein the kinematic model utilizes wheel pulse count.
 6. Thevehicular vision system of claim 3, wherein the kinematic model utilizeswheel steering angle and wheel pulse count.
 7. The vehicular visionsystem of claim 6, wherein the kinematic model utilizes vehicle headingangle.
 8. The vehicular vision system of claim 7, wherein the kinematicmodel utilizes wheel pulse count to develop numerical relations betweenwheel steering angle of the vehicle, vehicle heading angle andtranslational vehicle motion.
 9. The vehicular vision system of claim 3,wherein the kinematic model utilizes center of gravity of the vehicle.10. The vehicular vision system of claim 3, wherein the kinematic modelutilizes lateral velocity of the vehicle.
 11. The vehicular visionsystem of claim 1, wherein the vehicular vision system, via processingat the electronic control unit of frames of image data captured by thecamera of the plurality of cameras during maneuvering of the vehicle, anobject motion vector of the detected object is determined based on afirst position of the detected object in a first frame of image datacaptured by the camera and a second position of the detected object in asecond frame of image data captured by the camera.
 12. The vehicularvision system of claim 11, wherein misalignment of the camera isdetermined at least in part responsive to comparison of the determinedobject motion vector and the determined vehicle motion vector.
 13. Thevehicular vision system of claim 11, wherein misalignment of the camerais determined at least in part responsive to a determined differencebetween direction of the determined vehicle motion vector and directionof the determined object motion vector.
 14. The vehicular vision systemof claim 11, wherein misalignment of the camera is determined at leastin part responsive to a determined difference between magnitude of thedetermined vehicle motion vector and magnitude of the determined objectmotion vector.
 15. The vehicular vision system of claim 1, wherein,responsive at least in part to determination of misalignment of thecamera, calibration of the camera is adjusted.
 16. The vehicular visionsystem of claim 15, wherein calibration of the camera is adjusted so asto have location and relative movement of detected objects based onimage processing coincide with their predicted location and movementbased on actual motion of the vehicle.
 17. The vehicular vision systemof claim 1, wherein frames of image data captured by at least some ofthe plurality of cameras are used for a surround view system of thevehicle.
 18. The vehicular vision system of claim 1, wherein each cameraof the plurality of cameras comprises a CMOS camera.
 19. The vehicularvision system of claim 1, wherein the vehicle data includes at least oneselected from the group consisting of (i) vehicle geometry of thevehicle and (ii) distance traveled by the vehicle.
 20. The vehicularvision system of claim 1, wherein the camera comprises the front camera.21. The vehicular vision system of claim 1, wherein the camera comprisesthe rear camera.
 22. The vehicular vision system of claim 1, wherein theplurality of cameras further comprises (i) a left-side camera disposedat a left side of the vehicle and having at least a sideward andrearward field of view and (ii) a right-side camera disposed at a rightside of the vehicle and having at least a sideward and rearward field ofview.
 23. The vehicular vision system of claim 22, wherein the left-sidecamera is disposed at a left-side outside rearview mirror assembly ofthe vehicle, and wherein the right-side camera is disposed at a rightside outside rearview mirror assembly of the vehicle.
 24. The vehicularvision system of claim 1, wherein the plurality of cameras comprises aforward-viewing camera disposed at a windshield of the vehicle andhaving at least a forward field of view through the windshield of thevehicle.
 25. A vehicular vision system, the vehicular vision systemcomprising: a plurality of cameras disposed at a vehicle equipped withthe vehicular vision system; wherein the plurality of cameras isdisposed at the vehicle so that each camera of the plurality of camerashas a respective field of view exterior of the vehicle; wherein theplurality of cameras comprises (i) a rear camera disposed at a rearportion of the vehicle and having at least a rearward field of view and(ii) a forward-viewing camera disposed at a windshield of the vehicleand having at least a forward field of view through the windshield ofthe vehicle; wherein each camera of the plurality of cameras comprises atwo dimensional array having at least one million photosensing elementsarranged in rows and columns; wherein each camera of the plurality ofcameras is operable to capture frames of image data; an electroniccontrol unit, the electronic control unit comprising an image processoroperable to process frames of image data captured by the plurality ofcameras and provided to the electronic control unit; wherein vehicledata is provided to the electronic control unit via a communication busof the vehicle; wherein, responsive to processing at the electroniccontrol unit of provided vehicle data, the vehicular vision systemdetermines a vehicle motion vector during maneuvering of the vehicle;wherein the vehicle data at least comprises (i) speed data indicative ofspeed of the vehicle and (ii) steering data indicative of steering ofthe vehicle; wherein, responsive to image processing at the electroniccontrol unit of frames of captured image data, the vehicular visionsystem determines an object present in the field of view of theforward-viewing camera; wherein the vehicular vision system determinesmovement of the object relative to the vehicle via image processing atthe electronic control unit of at least two frames of image datacaptured by the forward-viewing camera during maneuvering of thevehicle; wherein the vehicular vision system compares the determinedrelative movement of the object to the determined vehicle motion vector;and wherein, responsive to a difference between the determined relativemovement of the object and the determined vehicle motion vector, thevehicular vision system determines misalignment of the forward-viewingcamera.
 26. The vehicular vision system of claim 25, wherein the vehicledata is provided to the electronic control unit via a CAN communicationbus of the vehicle.
 27. The vehicular vision system of claim 25, whereina kinematic model comprising a bicycle model is used to representvehicle motion, and wherein the kinematic model utilizes translationalvehicle motion.
 28. The vehicular vision system of claim 25, wherein thevehicular vision system, via processing at the electronic control unitof frames of image data captured by the forward-viewing camera duringmaneuvering of the vehicle, an object motion vector of the detectedobject is determined based on a first position of the detected object ina first frame of image data captured by the forward-viewing camera and asecond position of the detected object in a second frame of image datacaptured by the forward-viewing camera.
 29. The vehicular vision systemof claim 28, wherein misalignment of the forward-viewing camera isdetermined at least in part responsive to comparison of the determinedobject motion vector and the determined vehicle motion vector.
 30. Thevehicular vision system of claim 28, wherein misalignment of theforward-viewing camera is determined at least in part responsive to adetermined difference between direction of the determined vehicle motionvector and direction of the determined object motion vector.
 31. Thevehicular vision system of claim 28, wherein misalignment of theforward-viewing camera is determined at least in part responsive to adetermined difference between magnitude of the determined vehicle motionvector and magnitude of the determined object motion vector.
 32. Thevehicular vision system of claim 25, wherein, responsive at least inpart to determination of misalignment of the forward-viewing camera,calibration of the forward-viewing camera is adjusted.
 33. The vehicularvision system of claim 32, wherein calibration of the forward-viewingcamera is adjusted so as to have location and relative movement ofdetected objects based on image processing coincide with their predictedlocation and movement based on actual motion of the vehicle.
 34. Avehicular vision system, the vehicular vision system comprising: aplurality of cameras disposed at a vehicle equipped with the vehicularvision system; wherein the plurality of cameras is disposed at thevehicle so that each camera of the plurality of cameras has a respectivefield of view exterior of the vehicle; wherein the plurality of camerascomprises (i) a rear camera disposed at a rear portion of the vehicleand having at least a rearward field of view, (ii) a forward-viewingcamera disposed at a windshield of the vehicle and having at least aforward field of view through the windshield of the vehicle, (iii) aleft-side camera disposed at a left side of the vehicle and having atleast a sideward and rearward field of view and (iv) a right-side cameradisposed at a right side of the vehicle and having at least a sidewardand rearward field of view; wherein each camera of the plurality ofcameras comprises a CMOS camera; wherein each camera of the plurality ofcameras comprises a two dimensional array having at least one millionphotosensing elements arranged in rows and columns; wherein each cameraof the plurality of cameras is operable to capture frames of image data;an electronic control unit, the electronic control unit comprising animage processor operable to process frames of image data captured by theplurality of cameras and provided to the electronic control unit;wherein, responsive to processing at the electronic control unit ofprovided vehicle data, the vehicular vision system determines a vehiclemotion vector during maneuvering of the vehicle; wherein the vehicledata at least comprises (i) speed data indicative of speed of thevehicle and (ii) steering data indicative of steering of the vehicle;wherein, responsive to image processing at the electronic control unitof frames of captured image data, the vehicular vision system determinesan object present in the field of view of the forward-viewing camera;wherein the vehicular vision system determines movement of the objectrelative to the vehicle via image processing at the electronic controlunit of at least two frames of image data captured by theforward-viewing camera during maneuvering of the vehicle; wherein thevehicular vision system compares the determined relative movement of theobject to the determined vehicle motion vector; and wherein, responsiveto a difference between the determined relative movement of the objectand the determined vehicle motion vector, the vehicular vision systemdetermines misalignment of the forward-viewing camera.
 35. The vehicularvision system of claim 34, wherein a kinematic model comprising abicycle model is used to represent vehicle motion, and wherein thekinematic model utilizes translational vehicle motion.
 36. The vehicularvision system of claim 34, wherein the vehicular vision system, viaprocessing at the electronic control unit of frames of image datacaptured by the forward-viewing camera during maneuvering of thevehicle, an object motion vector of the detected object is determinedbased on a first position of the detected object in a first frame ofimage data captured by the forward-viewing camera and a second positionof the detected object in a second frame of image data captured by theforward-viewing camera.
 37. The vehicular vision system of claim 36,wherein misalignment of the forward-viewing camera is determined atleast in part responsive to comparison of the determined object motionvector and the determined vehicle motion vector.
 38. The vehicularvision system of claim 36, wherein misalignment of the forward-viewingcamera is determined at least in part responsive to a determineddifference between direction of the determined vehicle motion vector anddirection of the determined object motion vector.
 39. The vehicularvision system of claim 36, wherein misalignment of the forward-viewingcamera is determined at least in part responsive to a determineddifference between magnitude of the determined vehicle motion vector andmagnitude of the determined object motion vector.
 40. The vehicularvision system of claim 34, wherein, responsive at least in part todetermination of misalignment of the forward-viewing camera, calibrationof the forward-viewing camera is adjusted.
 41. The vehicular visionsystem of claim 40, wherein calibration of the forward-viewing camera isadjusted so as to have location and relative movement of detectedobjects based on image processing coincide with their predicted locationand movement based on actual motion of the vehicle.
 42. The vehicularvision system of claim 34, wherein frames of image data captured by atleast some of the plurality of cameras are used for a surround viewsystem of the vehicle.
 43. The vehicular vision system of claim 42,wherein vehicle data is provided to the electronic control unit via acommunication bus of the vehicle.
 44. The vehicular vision system ofclaim 34, wherein the left-side camera is disposed at a left-sideoutside rearview mirror assembly of the vehicle, and wherein theright-side camera is disposed at a right side outside rearview mirrorassembly of the vehicle.